Object handling apparatus and method

ABSTRACT

A method and an apparatus for handling objects, in particular discs such as CD&#39;s having an aperture therein defining a rim. The apparatus comprises a first set of jaws moveable towards and away from one another and a second set of jaws moveable towards and away from one another. In use, the jaws of each set may be moved apart to exert a radial gripping force on the rims of the objects. The second set of jaws is extendible and retractable axially. By operating the sets of jaws through sequences of extension, gripping, retraction and releasing, the objects can be loaded onto or off of the apparatus. The gripping action of the jaws allows the apparatus to hold the objects in any orientation.

BACKGROUND OF THE INVENTION

(1) Field of the Invention

The present invention concerns an object handling apparatus and method,and in particular an object handling apparatus and method adapted tostack and/or unload objects such as discs having at least one aperturetherein defining an inner rim, such as compact discs, dvd's, floppydiscs, mobile phone covers, etc.

(2) Description of Related Art

The production and post production handling of such mass producedobjects invariably involves the use of automated robotic equipment inmanipulating and/or transporting the objects during the variousmanufacturing stages. The faster the objects can be handled by suchequipment, the greater the manufacturing output, and therefore the morecost effective the entire manufacturing operation.

However, conventional robotic arms or the like are only capable ofhandling individual objects. Thus, in use, the arm grips the firstobject, and then transports the object to another location, beforereturning to collect the next object. This process is repeatedcontinually until all of the objects have been transferred to therequired location.

The method and apparatus of the present invention enable a large numberof a particular object to be handled at once, thus dramatically reducingthe number of operations required to transfer a given number of theobjects from one location to another, and thus the time and cost ofmanufacture.

BRIEF SUMMARY OF THE INVENTION

The present invention therefore provides, in a first aspect, anapparatus for handling objects, each object having an aperture thereindefining a rim, the apparatus comprising a support on which, in use, oneor more objects may be stacked, or unloaded from; an arm locatedadjacent the support; and control circuitry adapted to effect extensionof the arm through the aperture of at least one of the objects,displacement of the arm into engagement with the rim of the at least oneobject, retraction of the arm such as to position the rim over thesupport, and displacement of the arm such that the rim is engaged by thesupport.

Preferably, the arm and the support are elongate, and are substantiallyparallel to one another.

Preferably, the arm is provided with a plurality of indentations spacedapart along the length thereof.

Preferably, the support is provided with a plurality of indentationsspaced apart along the length thereof.

Preferably, the apparatus is provided with a sensor which is adapted todetect when a preset number of objects have been stacked on the support.

Preferably, the arm is comprised of a first set of jaws movable relativeto one another.

Preferably, the support is comprised of a second set of jaws movablerelative to one another and the first set of jaws.

Preferably, the support is substantially penannular in cross-sectionsuch that the arm, when retracted, is substantially recessed within thesupport.

According to a second aspect of the present invention, there is provideda method of handling objects, each object having an aperture thereindefining a rim, the method comprising the steps of providing anapparatus according to the first aspect of the invention; extending thearm through the aperture of at least one of the objects; displacing thearm into engagement with the rim of the at least one object; retractingthe arm such as to position the rim over the support; and displacing thearm such that the rim is engaged by the support.

Preferably, the arm is extended through the aperture in a firstdirection; the arm is displaced in a second direction, substantiallyperpendicular to the first direction, such as to engage the rim; the armis retracted in the first direction; and the arm is displaced in thesecond direction such that the rim is engaged by the support.

Preferably, the method comprises the steps of providing the arm as afirst set of jaws moveable relative to one another; providing thesupport as a second set of jaws moveable relative to one another and thefirst set of jaws; in engaging the arm with the rim, advancing the firstset of jaws away from one another such as to engage the rim at twolocations; following retraction of the arm, advancing the second set ofjaws away from one another, such as to engage the rim at two locations;and in retracting the arm, advancing the first set of jaws towards oneanother, such as to disengage the rim.

Preferably, the method comprises the steps of providing a plurality ofindentations spaced apart along the length of the arm.

Preferably, the method comprises the steps of providing a plurality ofindentations spaced apart along the length of the support.

As used herein, the term “aperture” is intended to mean an opening in anobject through which another object may pass, and is not intended to belimited to apertures which are closed on all sides, and could forexample cover an aperture formed within, and by, a penannular object.

As used herein, the term “circuitry” is intended to cover electrical,mechanical, hydraulic, and pneumatic equipment, whether individually orin combination, which is arranged and adapted to effect the displacementof mechanical components, and could for example include servo motors,solenoids, hydraulic/pneumatic rams, in addition to any other controlequipment necessary to operate the above devices.

BRIEF DESCRIPTION OF SEVERAL VIEWS OF THE INVENTION

The present invention will now be described with reference to theaccompanying drawings, in which;

FIGS. 1 (A)-(E) illustrate a respective side elevation of fivesequential operations of a first embodiment of an apparatus, in stackingan apertured disc onto the apparatus;

FIGS. 1 (F)-(J) each illustrates a corresponding end view of theapparatus of FIGS. 1 (A)-(E) respectively;

FIG. 2 (A)-(E) illustrate a respective side elevation of five sequentialoperations of the apparatus of FIG. 1 in stacking a second apertureddisc on the apparatus;

FIGS. 2 (F)-(J) each illustrates a corresponding end view of theapparatus of FIGS. 2 (A)-(E) respectively;

FIG. 3 (A)-(E) illustrate a respective side elevation of five sequentialoperations of a second embodiment of an apparatus according to thepresent invention, in stacking an apertured disc onto the apparatus; and

FIGS. 3 (F)-(J) each illustrates a corresponding end view of theapparatus of FIGS. 3 (A)-(E) respectively;

FIG. 4 (A)-(E) illustrate a respective side elevation of five sequentialoperations of the apparatus of FIG. 3 in stacking a second apertureddisc onto the apparatus;

FIGS. 4 (F)-(J) each illustrates a corresponding end view of theapparatus of FIGS. 4 (A)-(E) respectively;

DETAILED DESCRIPTION OF THE INVENTION

Referring then to FIGS. 1 and 2 of the accompanying drawings, there isillustrated a first embodiment of an object handling apparatus,generally indicated as 10, which, in use, one or more objects such asdiscs 12, each having an aperture 14 therein defining a rim 15, may bestacked on and/or unloaded from. The apparatus 10 is primarily intendedto be used in a substantially horizontal orientation. The purpose of theapparatus 10 is to pick up and stack one or more of the discs 12, whichin practice will take the form of articles such as CD's (compact discs),DVD's (digital video discs), computer discs, mobile phone covers, etc,(not shown). The apparatus 10 is primarily intended to form an integralcomponent of an assembly line (not shown), and may be articulated tomove the discs 12 stacked thereon from one located to another, and tothen unload the discs 12 as required. For example, during the productionof CD's or DVD's, once the requisite information (e.g. music, computersoftware, etc.) has been “burnt” onto the disc 12, the disc 12 willnormally be transferred to a packaging assembly line, where the disc 12is inserted into a suitable case or the like (not shown). Some form ofmachine or robotic arm (not shown) will conventionally be utilised toeffect the transfer, and indeed the large number of additional transfersrequired in any high volume assembly line operation. The apparatus 10would therefore likely be utilised on the end of a suitably modifiedrobotic arm in place of conventional grippers (not shown). As will bedescribed in detail hereinafter, the apparatus 10 is preferably providedwith control circuitry (not shown), which may be comprised of electricalcomponents (e.g. servo motors), hydraulic or pneumatic rams (not shown)or any other functional equivalents, in order to operate the apparatus10, all of which are conventionally utilised in powering robotic arms orthe like, ensuring that the apparatus 10 may be easily retrofitted toexisting equipment, or integrated into an existing assembly line.

The apparatus 10 primarily comprises an elongate support 16 which, inuse, the discs 12 are stacked on and/or unloaded from. The support 16includes a plurality of indentations in the form of grooves 22 equallyspaced from one another along the length of the support 16, into each ofwhich grooves 22 a single disc 12 may be seated, as will be described ingreater detail hereinafter. The apparatus 10 further comprises anelongate arm 18 which is adapted, again as will be described in detailhereinafter, to retrieve a disc 12 from a given location and stack saiddisc 12 onto the support 16, and repeating this stacking with aplurality of the discs 12, before transferring same to another location.The arm 18 includes a plurality of indentations 24 within each of whicha single disc 12 is seated during transport onto or off the support 16.The grooves 22 and indentations 24 prevent, during use, any of the discs12 seated on either the support 16 or arm 18 from contacting, andtherefore possibly damaging, one another.

The support 16 and arm 18 are disposed, in the embodiment illustrated,in parallel to one another, the arm 18 being moveable relative to thesupport 16. Specifically, the support 16 is substantially penannular incross-section, thereby defining a centrally disposed channel 20, withinand about which the arm 18 is moveable. Utilising this penannular shapeprovides a number of advantages. The channel 20 serves to both supportand guide the arm 18, while ensuring that the combined cross sectionalarea of the support 16 and arm 18 is kept to a minimum, in order topermit same to pass through the aperture 14 of each disc 12 as required,and as will be described in detail hereunder. In addition, the channel20 results in the rim 15 of each disc 12 being contacted at twolocations when seated on the support 16, one on either side of thechannel 20, thereby providing increased stability to the discs 12 whenbeing transported to any other location.

In the embodiment illustrated, the support 16 is mounted to a body 26,within which is located a base 28 to which the arm 18 is mounted. Thebase 28 is moveable within the body 26, as indicated above, by suchmeans as hydraulics, pneumatics, or the like, such as to effect movementof the arm 18 relative to the support 16. The apparatus 10 is primarilyintended for use in a substantially horizontal position, and as thesupport 16 and arm 18 are fixed at one end to the body 24, the apparatusis cantilever in form. Therefore, depending on the operating loadsexperienced by the apparatus, which will vary depending on the numberand composition of objects (e.g. discs 12) to be stacked thereon, boththe support 16 and arm 18 are preferably formed from a rigid material,for example a metal, a composite, a plastic or reinforced plastic, orindeed any other suitable alternative.

If necessary, depending on the objects with which the apparatus 10 is tobe used, a suitable protective coating or layer (not shown), for examplerubber or the like, may be provided on the support 16 and arm 18, inparticular on the contact surfaces thereof, in order to reduce thepossibility of damage to the objects.

Therefore, referring to FIGS. 1(A) and (F), the apparatus 10 is locatedsuch that contiguous free ends of the support 16 and arm 18 are locatedproximal a first disc 12, and in particular the apparatus 10 is locatedsuch that the support 16 and the arm 18 are aligned with the aperture 14in the disc 12. It will of course be appreciated that this initialalignment is likely to be performed via computer control. In thisinitial state the arm 18 is fully recessed within the channel 20.Referring then to FIG. 1(B), the arm 18 is extended through the aperture14, in a first direction A, such that the first indentation 24 iscoplanar with the disc 12. This extension may be effected by, forexample, the extension of a hydraulic/pneumatic ram, a solenoid, or anelectric motor (not shown) located internally of the body 26, oralternatively forming part of the robotic arm (not shown) or the like,to which the apparatus 10 is mounted. Referring then to FIGS. 1(C) and(H), the arm 18 is raised upwardly, in a second direction Bsubstantially perpendicular to the first direction A, out of the channel20, thereby engaging the rim 15 of the aperture 14, within the firstindentation 24, such as to pick the disc 12 up from its rest position.Again this displacement is effected by one or more of the devicesmentioned above with reference to FIGS. 1(B) and (G). It should be notedthat the displacement of the arm 18, such as to contact the rim 15, ispreferably in a direction substantially parallel to the plane of thedisc 12. This ensures an accurate contact between the rim 15 and base ofthe indentation 24, thereby ensuring no relative movement between thedisc 12 and the arm 18 following the initial contact therebetween. Anysuch relative movement could cause momentary swinging of the disc 12,which could then contact, and possibly damage, any adjacent disc 12.

Continuing on to FIGS. 1(D) and (I), the arm 18, while remaining out ofthe channel 20, is retracted in the direction A such as to effectivelydraw the support 16 through the aperture 14, until the disc 12 isaligned with the first groove 22 on the support 16. It will thus beappreciated that as the disc 12 is drawn over the support 16, such thatthe support 16 passes through the aperture 14, the support 16 must beshaped and dimensioned to allow passage through the aperture 14. Thusthe size and shape of the support 16 will vary depending on the objectwith which the apparatus 10 is to be used. It will also be apparent thatthe penannular shape of the support 16 makes efficient use of theavailable space, having a relatively large cross-sectional area toprovide rigidity along the length thereof, while effectively housing thearm 18 in the central channel 20.

Referring now to FIGS. 1(E) and (K), the arm 18 is dropped back into thechannel 20 in the direction B, thereby lowering the disc 12 intoengagement with the first groove 22 on the support 16. As withdisplacement of the arm 18 to initially contact and raise the disc 12,the arm 18 is preferably retracted in a direction substantially parallelto the plane of the disc 12, to ensure an accurate transfer of the disc12 from the indentation 24 of the arm 18, to the respective groove 22 ofthe support 16, for the reason hereinbefore described. Once the arm 18is fully retracted within the channel 20, the disc 12 is fullydisengaged therefrom. At this point, the apparatus 10 has returned tothe initial configuration illustrated in FIGS. 1(A) and (F), but with adisc 12 seated on the support 16, in the first groove 22 thereof. Inorder to ensure that sufficient stability is provided to the disc 12while stacked on the apparatus 10, the upper surface of the support 16,in addition to the plurality of grooves 22, is preferably arcuate suchas to provide complementary contact along a substantial portion of therim 15 of the aperture 14.

In order to then stack a second disc 12′ and subsequent discs 12 ontothe support 16, the above sequential steps are repeated for each disc 12to be stacked, until the desired number of discs are located on thesupport 16, or until each groove 22 on the support 16 has been filled.Thus, referring to FIG. 2-(J), the apparatus 10 is illustrated with afirst disc 12 seated within the first groove 22 of the support 16, andthe second disc 12′ being retrieved and stacked onto the support 16.FIGS. 2(A) and (F) shows the arm 18 being extended through the aperture14 of the second disc 12′. While the arm 18 is being extended indirection A, it is kept retracted within the channel 20, such as not toengage the first disc 12 seated on the support 16.

Referring to FIGS. 2(B) and (G), once the arm 18 has been extended suchthat the first indentation 24 is coplanar with the second disc 12′, thearm 18 is raised in direction B, substantially parallel to the plane ofthe second disc 12′, such as to engage and raise the second disc 12′.However, in raising the arm 18, it can be seen that the first disc 12 isalso raised out of the respective groove 22 and is therefore alsosupported entirely by the arm 18. Referring to FIGS. 2(C) and (H), thearm 18 is retracted in direction A, as hereinbefore described, with thefirst and second discs 12, 12′ therefore being drawn rearwardly relativeto the support 16.

Turning then to FIGS. 2(D) and (I), the arm 18 is again lowered into thechannel 20 in direction B, thereby resulting in the first and seconddiscs 12, 12′ each being lowered into adjacent grooves 22 on the support16, such as to again return the apparatus 10 to it's initialconfiguration. Referring to FIG. 2(E) and (J), the above sequence maythen be repeated by again extending the arm 18 such as to retrieve athird disc 12″. It will therefore be appreciated that as the abovesequence is repeated, the plurality of discs 12 will be simultaneouslymoved rearwardly along the support 16, one groove 22 at a time, towardsthe body 26.

The apparatus 10 is therefore provided with a sensor 30 mounted to thebody 26, which sensor 30 is adapted to detect when the final groove 22on the support 16 has been filled with a disc 12, thereby indicatingthat all of the grooves 22 on the support 16 have been filled. Thus thesensor 30 is adapted to generate a signal which may terminate operationof the apparatus 10, generate a signal to which an operator responds, ordisplace the apparatus 10 to a new location within the assembly line(not shown). The sensor 30 preferably operates as a proximity detector,utilising conventional infrared or ultrasonic technology or the like,although the sensor 30 could be of any other suitable type. For example,the last groove 22 in the support 16 could be provided with a pressuresensor (not shown) or the like disposed therein, which would thereforebe operable to determine when the groove 22 had been filled with a disc12.

At any point during stacking of the apparatus 10 with the discs 12, theabove sequence may be reversed in order to unload the discs 12 from theapparatus 10 to any given location. Such reversal of the above sequencewould preferably be effected by computer control, for example followingtransport of the loaded apparatus 10 to another location at which thediscs 12 are required.

It will however be appreciated from the foregoing description that thediscs 12 remain suspended in position on the support 16 under theinfluence of gravity, and thus the apparatus 10 is only suited for usein a horizontal orientation.

Referring then to FIGS. 3 and 4 of the accompanying drawings, there isillustrated a second embodiment of an object handling apparatus,generally indicated as 110, for use in stacking and/or unloading objectssuch as discs 112 from an off horizontal, preferably vertical,orientation. In the second embodiment like components have been accordedlike reference numerals, and unless otherwise stated, perform a likefunction. Thus the apparatus 110 essentially comprises a support in theform of a first pair of jaws 116, and an arm in the form of a secondpair of jaws 118 located in parallel spaced relation to the first jaws116. The first jaws 116 are mounted to a body 126, while the second jaws118 are mounted to a base 128 disposed within the body 126.

As with the first embodiment, the apparatus 110 is provided with controlcircuitry (not shown) comprising electrical components (e.g. servomotors), hydraulic or pneumatic rams (not shown) or any other functionalequivalents, in order to power the apparatus 110. In particular, thecontrol circuitry (not shown) is operable to control the movement of thefirst jaws 116 relative to one another and the second jaws 118, and thesecond jaws 118 relative to one another and the first jaws 116. Theapparatus 110 operates on the same basic principal as the apparatus 10of the first embodiment, with a number of variations describedhereunder, in order to enable the apparatus 110 to operate in anon-horizontal position. The apparatus 110 is therefore not dependent ongravity to hold the discs 112 in position thereon.

Referring to FIGS. 3(A) and (F), the apparatus 110 is located such thatthe free ends of the first jaws 116 and second jaws 118 are locatedproximal an aperture 114 of the disc 112 to be stacked. Turning then toFIG. 3(B), the second jaws 118 are extended in a direction A such as topass through the aperture 114 until a first set of indentations 124 aredisposed coplanar with the disc 112. Referring to FIGS. 3(C) and (H),the second jaws 118 are then advanced away from one another, in adirection B substantially perpendicular to direction A, such as toengage a rim 115 of the aperture 114, at a pair of oppositely disposedpoints, as defined by the first set of indentations 124.

The second jaws 118 are then retracted in direction A, as illustrated inFIGS. 3(D) and (I), such as to effectively draw the first jaws 118through the aperture 114 of the disc 112, until the rim 115 of the disc112 is aligned with a first set of grooves 122 on the first jaws 116.During this retraction of the second jaws 118, the first jaws 116 aredisposed in close proximity with one another in order to prevent foulingthereof with the rim 115. The first jaws 116 are then advanced, asillustrated in FIG. 3(E) and (J), away from one another in a direction Csubstantially perpendicular to both direction A and B, such as to engagethe rim 115 of the aperture 114. The second jaws 118 may then beadvanced towards one another in direction B such as to disengage thedisc 112, which is then supported solely by the first jaws 116. Asdetailed above with reference to the first embodiment, the first jaws116 and the second jaws 118 should be displaced towards and away fromeach disc 112 in a direction substantially parallel to the plane of thedisc 112, in order to prevent any unwanted movement between the disc 112and the apparatus 110.

Turning then to FIG. 4, the above sequence may then be repeated to stacka second disk 112′ and subsequent discs 112. Thus referring to FIGS.4(A) and (F), with the first disc 112 retained by the first jaws 116,the second jaws 118 are advanced in direction A through the aperture 114of the second disc 112′. Turning to FIGS. 4(B) and (G), the second jaws118 are then advanced away from one another in direction B such as toengage both the first and second discs 112, 112′ in respectiveindentations 124. The first jaws 116 are then advanced towards oneanother in direction C such as to disengage the first disc 112. Turningto FIGS. 4(C) and (H), the second jaws 118 are then retracted indirection A such as to draw the second disc 112′ over the first jaws116. This retraction of the second jaws 118 also draws the first disc112 further along the first jaws 116.

Referring to FIGS. 4(D) and (I), the first jaws 116 are then advancedaway from one another in direction C such as to engage both the firstand second disc 112, 112′ within respective grooves 122, wherein thesecond jaws 118 are advanced towards one another in direction B such asto disengage the first and second discs 112, 112′.

Thus the first and second discs 112, 112′ are each engaged in arespective groove 122 of each of the first jaws 116, such as to retainthe discs 112, 112′ stacked in position on the apparatus 110. Again,referring to FIGS. 4(E) and (J), the above sequence may then be repeatedto stack further discs 112 onto the apparatus 110, each sequenceadvancing the plurality of discs 112 upwardly along the first jaws 116.The apparatus 110 is also provided with a sensor 130, mounted to thebody 126 and located proximal the final grooves 22 on the first jaws116, such as to detect the presence of a disc 112 in said grooves 122,and thus generate an appropriate signal to cease operation of theapparatus 110, and optionally transfer the discs 112, 112′, 112″ toanother location for unloading.

It should also be understood that both the first jaws 116 and the secondjaws 118, in particular the grooves 122 and indentations 124, may beprovided with a layer or coating of protective material, for examplerubber or the like, to reduce the possibility of damage to the discs 112during operation of the apparatus 110.

It will be appreciated that while the apparatus 110 is primarilyintended to vertically stack discs 112, it could of course be applied todiscs (not shown) in any orientation, including horizontal. It willtherefore also be appreciated that the apparatus 110 could be utilisedto stack discs 112 which are presented to the apparatus 110 at oneorientation, and which discs 112 could subsequently be unloaded from theapparatus 110 at an alternative orientation, which would not be possiblewith the apparatus 10 of the first embodiment. Therefore, although theconfiguration and operation of the apparatus 110 is slightly morecomplex than that of the first embodiment, the apparatus 110 doesprovided greater versatility.

1. An apparatus for handling objects, each object having an aperturetherein defining a rim, the apparatus comprising a first set of jawsconfigured to move towards and away from one another, a second set ofjaws configured to move towards and away from one another, the first setof jaws providing a support on which, in use, one or more objects areconfigured to be stacked, or unloaded from; said second set of jawsbeing located adjacent the first set of jaws such that, in use, saidsecond set of jaws and said first set of jaws are configured to passthrough said aperture; and means for effecting extension of the secondset of jaws through the aperture of at least one of the objects, meansfor effecting displacement of the laws of said second set of jaws awayfrom another into engagement with the rim of the at least one of theobjects, means for effecting retraction of the jaws of said second setof jaws such as to position the rim over the first set of jaws, meansfor effecting displacement of the jaws of said second set of jawstowards each other; and means for actuating the jaws of said first setof jaws away from one another into engagement with said rim, and foractuating the jaws of said first set of jaws towards each other, whereinduring said engagement with said rim, said first set of jaws and saidsecond set of laws each exerts a radial gripping force on said rim. 2.An object handling apparatus according to claim 1 in which the first andsecond sets of jaws are elongate, and are substantially parallel to oneanother.
 3. An object handling apparatus according to claim 1 whereinthe second set of jaws is provided with a plurality of indentationsspaced apart along a length thereof.
 4. An object handling apparatusaccording to claim 1 wherein the support is provided with a plurality ofindentations spaced apart along the length thereof.
 5. An objecthandling apparatus according to claim 1 wherein the apparatus isprovided with a sensor which is adapted to detect when a preset numberof objects have been stacked on the support.
 6. In an apparatus asclaimed in claim 1, a method of handling objects, each object having anaperture therein defining a rim, the method comprising; extending thesecond set of jaws through the aperture of at least one of the objects;displacing the jaws of said second set of jaws away from one anotherinto engagement with the rim of the at least one object; retracting thejaws of said second set of jaws such as to position the rim over thefirst set of jaws; displacing the jaws of said first set of jaws awayfrom one another to engage the rim; and displacing the jaws of saidsecond set of jaws towards one another wherein, during said engagementwith said rim, said first set of jaws and said second set of jaws eachexerts a radial gripping force on said rim.
 7. A method according toclaim 6, in which the jaws of said second set of jaws are configured tomove through the aperture along a first axis, and are configured to movetowards and away from one another along a second axis, the first andsecond axes being substantially perpendicular with one another.
 8. Amethod according to claim 7, in which the jaws of said first set of jawsare configured to move towards and away from one another along a thirdaxis that is substantially perpendicular to said first axis and saidsecond axis.
 9. A method as claimed in claim 6, further comprisingoperating in a first mode of operation in which said rim is gripped bysaid only second set of jaws; operating in a second mode of operation inwhich said rim is gripped by both of said first and second sets of jaws;and operating in a third mode of operation in which said rim is grippedby only said first set of jaws.
 10. A object handling apparatus asclaimed in claim 1, wherein the jaws of said first set of jaws areconfigured to move towards and away from one another in a direction thatis substantially perpendicular to the direction in which the jaws ofsaid second set of jaws are configured to move towards and away from oneanother.
 11. An apparatus as claimed in claim 1, wherein the apparatusis configured to operate in a first mode of operation in which said rimis gripped by only said second set of jaws; a second mode of operationin which said rim is gripped by both of said first and second sets ofjaws; and a third mode of operation in which said rim is gripped by onlysaid first set of jaws.
 12. An apparatus as claimed in claim 1, whereinsaid second set of jaws has a free end that is free to extend throughthe aperture of at least one of said objects when the apparatus firstengages with said at least one of said objects.